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<div class="title">sampling_surface_normal.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2009-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * All rights reserved.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;time.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;limits.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html">   55</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_sampling_surface_normal.html">SamplingSurfaceNormal</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> Eigen::Matrix&lt;float, Eigen::Dynamic, 1&gt; Vector;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; SamplingSurfaceNormal&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const SamplingSurfaceNormal&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#a9a5a04afd679922ea3ff80c2b4726662">   74</a></span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a9a5a04afd679922ea3ff80c2b4726662">SamplingSurfaceNormal</a> () : </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ae5aa95593e62919e368f8bdb89d9fb47">sample_</a> (10), <a class="code" href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">seed_</a> (static_cast&lt;unsigned int&gt; (time (NULL))), <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ac227652191ed966b66f871b01416d5c7">ratio_</a> ()</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;SamplingSurfaceNormal&quot;</span>;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        srand (<a class="code" href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">seed_</a>);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#a0cef01e1d389a99bd31c4937902c107e">   85</a></span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a0cef01e1d389a99bd31c4937902c107e">setSample</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sample)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ae5aa95593e62919e368f8bdb89d9fb47">sample_</a> = sample;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      }</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#a1e8135a6255a30f12b0ecacec278dade">   92</a></span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a1e8135a6255a30f12b0ecacec278dade">getSample</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sampling_surface_normal.html#ae5aa95593e62919e368f8bdb89d9fb47">sample_</a>);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      }</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#a1e55c11f0eabe19b6c8c2867974a03ef">  101</a></span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a1e55c11f0eabe19b6c8c2867974a03ef">setSeed</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> seed)</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;      {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <a class="code" href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">seed_</a> = seed;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        srand (<a class="code" href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">seed_</a>);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      }</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#aca270aa6b1eab5558c8f6d3fb4e4f3b5">  109</a></span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#aca270aa6b1eab5558c8f6d3fb4e4f3b5">getSeed</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">seed_</a>);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#a5cedefed792fd3f3d36efb1478276cd1">  118</a></span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a5cedefed792fd3f3d36efb1478276cd1">setRatio</a> (<span class="keywordtype">float</span> ratio)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ac227652191ed966b66f871b01416d5c7">ratio_</a> = ratio;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#a5d8aed421911b235a78c5c1ec1d854fd">  125</a></span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a5d8aed421911b235a78c5c1ec1d854fd">getRatio</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ac227652191ed966b66f871b01416d5c7">ratio_</a>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#ae5aa95593e62919e368f8bdb89d9fb47">  133</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ae5aa95593e62919e368f8bdb89d9fb47">sample_</a>;</div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">  135</a></span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">seed_</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="classpcl_1_1_sampling_surface_normal.html#ac227652191ed966b66f871b01416d5c7">  137</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ac227652191ed966b66f871b01416d5c7">ratio_</a>;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a89ccc27aafff61a6cd19c1a16ef14421">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html">  149</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html">CompareDim</a></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      {</div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a3779f501e853735d4ecca51edf7f6e44">  152</a></span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a3779f501e853735d4ecca51edf7f6e44">dim</a>;</div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">  154</a></span>&#160;        <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointT&gt;</a>&amp; <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">cloud</a>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#ab31d1f2626d181c7cd46e6fb647d51f3">  157</a></span>&#160;        <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#ab31d1f2626d181c7cd46e6fb647d51f3">CompareDim</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a3779f501e853735d4ecca51edf7f6e44">dim</a>, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointT&gt;</a>&amp; <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">cloud</a>) : <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a3779f501e853735d4ecca51edf7f6e44">dim</a> (<a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a3779f501e853735d4ecca51edf7f6e44">dim</a>), <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">cloud</a> (<a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">cloud</a>)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a4ec71b9fa1b9818941e10a7473d84a8a">  163</a></span>&#160;        <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a4ec71b9fa1b9818941e10a7473d84a8a">operator () </a>(<span class="keyword">const</span> <span class="keywordtype">int</span>&amp; p0, <span class="keyword">const</span> <span class="keywordtype">int</span>&amp; p1)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          <span class="keywordflow">if</span> (<a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a3779f501e853735d4ecca51edf7f6e44">dim</a> == 0)</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">cloud</a>.points[p0].x &lt; <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">cloud</a>.points[p1].x);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a3779f501e853735d4ecca51edf7f6e44">dim</a> == 1)</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">cloud</a>.points[p0].y &lt; <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">cloud</a>.points[p1].y);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a3779f501e853735d4ecca51edf7f6e44">dim</a> == 2)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">cloud</a>.points[p0].z &lt; <a class="code" href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">cloud</a>.points[p1].z);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      };</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#af82f2754606ccf51e5fb89a705d92ba9">findXYZMaxMin</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, Vector&amp; max_vec, Vector&amp; min_vec);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a5e6e359a4fe86a0f2d23df0fb9c1b49b">partition</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> <span class="keywordtype">int</span> first, <span class="keyword">const</span> <span class="keywordtype">int</span> last, </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                 <span class="keyword">const</span> Vector min_values, <span class="keyword">const</span> Vector max_values, </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                 std::vector&lt;int&gt;&amp; indices, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; outcloud);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ab1e897f208e746cf6c669f3c49b6e45d">samplePartition</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; data, <span class="keyword">const</span> <span class="keywordtype">int</span> first, <span class="keyword">const</span> <span class="keywordtype">int</span> last, </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;                       std::vector&lt;int&gt;&amp; indices, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; outcloud);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#af9d1f2db0dfcb6ed3bdfe9a51fea81f6">findCutVal</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, <span class="keyword">const</span> <span class="keywordtype">int</span> cut_dim, <span class="keyword">const</span> <span class="keywordtype">int</span> cut_index);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a22c30fab2c7fe8bb16d503de915cef61">computeNormal</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud, Eigen::Vector4f &amp;normal, <span class="keywordtype">float</span>&amp; curvature);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#a56e03c564ed205e52ae66da50992d4a9">computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;                                      Eigen::Matrix3f &amp;covariance_matrix,</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;                                      Eigen::Vector4f &amp;centroid);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      <a class="code" href="classpcl_1_1_sampling_surface_normal.html#ad04f598a55e4ef6a76584f1d92b6aa17">solvePlaneParameters</a> (<span class="keyword">const</span> Eigen::Matrix3f &amp;covariance_matrix,</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                            <span class="keywordtype">float</span> &amp;nx, <span class="keywordtype">float</span> &amp;ny, <span class="keywordtype">float</span> &amp;nz, <span class="keywordtype">float</span> &amp;curvature);</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  };</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;}</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/sampling_surface_normal.hpp&gt;</span></div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FILTERS_SAMPLING_SURFACE_NORMAL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> filter.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html">pcl::SamplingSurfaceNormal</a></div><div class="ttdoc">SamplingSurfaceNormal divides the input space into grids until each grid contains a maximum of N poin...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a0cef01e1d389a99bd31c4937902c107e"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a0cef01e1d389a99bd31c4937902c107e">pcl::SamplingSurfaceNormal::setSample</a></div><div class="ttdeci">void setSample(unsigned int sample)</div><div class="ttdoc">Set maximum number of samples in each grid</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a1e55c11f0eabe19b6c8c2867974a03ef"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a1e55c11f0eabe19b6c8c2867974a03ef">pcl::SamplingSurfaceNormal::setSeed</a></div><div class="ttdeci">void setSeed(unsigned int seed)</div><div class="ttdoc">Set seed of random function.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:101</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a1e8135a6255a30f12b0ecacec278dade"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a1e8135a6255a30f12b0ecacec278dade">pcl::SamplingSurfaceNormal::getSample</a></div><div class="ttdeci">unsigned int getSample() const</div><div class="ttdoc">Get the value of the internal sample parameter.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:92</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a22c30fab2c7fe8bb16d503de915cef61"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a22c30fab2c7fe8bb16d503de915cef61">pcl::SamplingSurfaceNormal::computeNormal</a></div><div class="ttdeci">void computeNormal(const PointCloud &amp;cloud, Eigen::Vector4f &amp;normal, float &amp;curvature)</div><div class="ttdoc">Computes the normal for points in a grid. This is a port from features to avoid features dependency f...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:204</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a56e03c564ed205e52ae66da50992d4a9"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a56e03c564ed205e52ae66da50992d4a9">pcl::SamplingSurfaceNormal::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix3f &amp;covariance_matrix, Eigen::Vector4f &amp;centroid)</div><div class="ttdoc">Computes the covariance matrix for points in the cloud. This is a port from features to avoid feature...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:231</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a5cedefed792fd3f3d36efb1478276cd1"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a5cedefed792fd3f3d36efb1478276cd1">pcl::SamplingSurfaceNormal::setRatio</a></div><div class="ttdeci">void setRatio(float ratio)</div><div class="ttdoc">Set ratio of points to be sampled in each grid</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a5d8aed421911b235a78c5c1ec1d854fd"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a5d8aed421911b235a78c5c1ec1d854fd">pcl::SamplingSurfaceNormal::getRatio</a></div><div class="ttdeci">float getRatio() const</div><div class="ttdoc">Get the value of the internal ratio parameter.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a5e6e359a4fe86a0f2d23df0fb9c1b49b"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a5e6e359a4fe86a0f2d23df0fb9c1b49b">pcl::SamplingSurfaceNormal::partition</a></div><div class="ttdeci">void partition(const PointCloud &amp;cloud, const int first, const int last, const Vector min_values, const Vector max_values, std::vector&lt; int &gt; &amp;indices, PointCloud &amp;outcloud)</div><div class="ttdoc">Recursively partition the point cloud, stopping when each grid contains less than sample_ points Poin...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:122</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a89ccc27aafff61a6cd19c1a16ef14421"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a89ccc27aafff61a6cd19c1a16ef14421">pcl::SamplingSurfaceNormal::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Sample of point indices into a separate PointCloud</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_a9a5a04afd679922ea3ff80c2b4726662"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#a9a5a04afd679922ea3ff80c2b4726662">pcl::SamplingSurfaceNormal::SamplingSurfaceNormal</a></div><div class="ttdeci">SamplingSurfaceNormal()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_ab1e897f208e746cf6c669f3c49b6e45d"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#ab1e897f208e746cf6c669f3c49b6e45d">pcl::SamplingSurfaceNormal::samplePartition</a></div><div class="ttdeci">void samplePartition(const PointCloud &amp;data, const int first, const int last, std::vector&lt; int &gt; &amp;indices, PointCloud &amp;outcloud)</div><div class="ttdoc">Randomly sample the points in each grid.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:161</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_ac227652191ed966b66f871b01416d5c7"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#ac227652191ed966b66f871b01416d5c7">pcl::SamplingSurfaceNormal::ratio_</a></div><div class="ttdeci">float ratio_</div><div class="ttdoc">Ratio of points to be sampled in each grid</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:137</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_aca270aa6b1eab5558c8f6d3fb4e4f3b5"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#aca270aa6b1eab5558c8f6d3fb4e4f3b5">pcl::SamplingSurfaceNormal::getSeed</a></div><div class="ttdeci">unsigned int getSeed() const</div><div class="ttdoc">Get the value of the internal seed parameter.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:109</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_ad04f598a55e4ef6a76584f1d92b6aa17"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#ad04f598a55e4ef6a76584f1d92b6aa17">pcl::SamplingSurfaceNormal::solvePlaneParameters</a></div><div class="ttdeci">void solvePlaneParameters(const Eigen::Matrix3f &amp;covariance_matrix, float &amp;nx, float &amp;ny, float &amp;nz, float &amp;curvature)</div><div class="ttdoc">Solve the eigenvalues and eigenvectors of a given 3x3 covariance matrix, and estimate the least-squar...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:275</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_ae5aa95593e62919e368f8bdb89d9fb47"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#ae5aa95593e62919e368f8bdb89d9fb47">pcl::SamplingSurfaceNormal::sample_</a></div><div class="ttdeci">unsigned int sample_</div><div class="ttdoc">Maximum number of samples in each grid.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_af82f2754606ccf51e5fb89a705d92ba9"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#af82f2754606ccf51e5fb89a705d92ba9">pcl::SamplingSurfaceNormal::findXYZMaxMin</a></div><div class="ttdeci">void findXYZMaxMin(const PointCloud &amp;cloud, Vector &amp;max_vec, Vector &amp;min_vec)</div><div class="ttdoc">Finds the max and min values in each dimension</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_af9d1f2db0dfcb6ed3bdfe9a51fea81f6"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#af9d1f2db0dfcb6ed3bdfe9a51fea81f6">pcl::SamplingSurfaceNormal::findCutVal</a></div><div class="ttdeci">float findCutVal(const PointCloud &amp;cloud, const int cut_dim, const int cut_index)</div><div class="ttdoc">Returns the threshold for splitting in a given dimension.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.hpp:297</div></div>
<div class="ttc" id="aclasspcl_1_1_sampling_surface_normal_html_afe62a03b2bfdae34d0b94aea58b5ce29"><div class="ttname"><a href="classpcl_1_1_sampling_surface_normal.html#afe62a03b2bfdae34d0b94aea58b5ce29">pcl::SamplingSurfaceNormal::seed_</a></div><div class="ttdeci">unsigned int seed_</div><div class="ttdoc">Random number seed.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:135</div></div>
<div class="ttc" id="astructpcl_1_1_sampling_surface_normal_1_1_compare_dim_html"><div class="ttname"><a href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html">pcl::SamplingSurfaceNormal::CompareDim</a></div><div class="ttdoc">CompareDim is a comparator object for sorting across a specific dimenstion (i,.e X,...</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:150</div></div>
<div class="ttc" id="astructpcl_1_1_sampling_surface_normal_1_1_compare_dim_html_a3779f501e853735d4ecca51edf7f6e44"><div class="ttname"><a href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a3779f501e853735d4ecca51edf7f6e44">pcl::SamplingSurfaceNormal::CompareDim::dim</a></div><div class="ttdeci">const int dim</div><div class="ttdoc">The dimension to sort</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:152</div></div>
<div class="ttc" id="astructpcl_1_1_sampling_surface_normal_1_1_compare_dim_html_a4ec71b9fa1b9818941e10a7473d84a8a"><div class="ttname"><a href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a4ec71b9fa1b9818941e10a7473d84a8a">pcl::SamplingSurfaceNormal::CompareDim::operator()</a></div><div class="ttdeci">bool operator()(const int &amp;p0, const int &amp;p1)</div><div class="ttdoc">The operator function for sorting.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:163</div></div>
<div class="ttc" id="astructpcl_1_1_sampling_surface_normal_1_1_compare_dim_html_a691ffe6760ad42313385c9dc4369f60d"><div class="ttname"><a href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#a691ffe6760ad42313385c9dc4369f60d">pcl::SamplingSurfaceNormal::CompareDim::cloud</a></div><div class="ttdeci">const pcl::PointCloud&lt; PointT &gt; &amp; cloud</div><div class="ttdoc">The input point cloud to sort</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:154</div></div>
<div class="ttc" id="astructpcl_1_1_sampling_surface_normal_1_1_compare_dim_html_ab31d1f2626d181c7cd46e6fb647d51f3"><div class="ttname"><a href="structpcl_1_1_sampling_surface_normal_1_1_compare_dim.html#ab31d1f2626d181c7cd46e6fb647d51f3">pcl::SamplingSurfaceNormal::CompareDim::CompareDim</a></div><div class="ttdeci">CompareDim(const int dim, const pcl::PointCloud&lt; PointT &gt; &amp;cloud)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> sampling_surface_normal.h:157</div></div>
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